CN216956357U - Laser radar's send-receiver device - Google Patents
Laser radar's send-receiver device Download PDFInfo
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- CN216956357U CN216956357U CN202123404910.0U CN202123404910U CN216956357U CN 216956357 U CN216956357 U CN 216956357U CN 202123404910 U CN202123404910 U CN 202123404910U CN 216956357 U CN216956357 U CN 216956357U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The utility model discloses a laser radar transmitting and receiving device. Wherein, the device includes: the device comprises a transmitted light transmission system, a transmitted light collimation system, a received light collection system and a received light transmission system; the emission light transmission system is used for transmitting the emission light emitted by the laser to the emission light collimation system through the optical fiber and the optical fiber array; the emission light collimation system is used for collimating the emission light and then emitting the collimated emission light to the scanning system; the receiving light ray collecting system is used for receiving the echo light rays reflected by the scanning system through the optical fiber array and transmitting the echo light rays to the receiving light ray transmitting system so that the receiving light ray transmitting system can transmit the echo light rays to the detector. According to the utility model, the optical fiber array is used as the emitting device of the emitting end light rays and the reference light rays and the receiving device of the receiving end light rays, so that the laser radar design layout and the production, assembly and adjustment process are greatly facilitated, and the production cost is greatly reduced.
Description
Technical Field
The embodiment of the utility model relates to the technical field of laser radars, in particular to a receiving and transmitting device of a laser radar.
Background
The laser radar transceiver is used as a core component of the laser radar, and the design of the laser radar transceiver directly determines the basic architecture of the laser radar.
Whether reasonable can influence laser radar volume production cost and volume production nature of scheme design, when laser radar send-receiver device sets up unreasonablely, there is influence laser radar optical index, and laser radar system tolerance undersize, the dress is transferred and is inconvenient, can the poor scheduling problem of volume production nature, therefore laser radar send-receiver device has just become the focus of the weight of laser radar system design.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of a laser radar transmitting and receiving device in the prior art, the utility model provides the laser radar transmitting and receiving device, which greatly facilitates the design layout and the production, assembly and adjustment processes of the laser radar and greatly reduces the production cost.
The embodiment of the utility model provides a laser radar transceiver, which comprises:
the device comprises an emission light transmission system, an emission light collimation system, a receiving light collection system and a receiving light transmission system;
the emission light transmission system is used for transmitting emission light emitted by the laser to the emission light collimation system through an optical fiber and an optical fiber array;
the emission light collimation system is used for collimating the emission light and then emitting the collimated emission light to the scanning system;
the receiving light ray collecting system is used for receiving the echo light rays reflected by the scanning system through the optical fiber array and transmitting the echo light rays to the receiving light ray transmitting system so that the receiving light ray transmitting system can transmit the echo light rays to the detector.
Optionally, the emission light transmission system includes: the optical fiber splitter is connected with the main optical fiber, and the multi-path sub optical fiber;
the main optical fiber is used for transmitting the emission light to the optical fiber beam splitter;
the optical fiber beam splitter is used for splitting the emitted light into a plurality of beams of light, and the plurality of beams of light are respectively transmitted to each channel of the optical fiber array of the emitted light collimation system through the plurality of paths of sub-optical fibers.
Optionally, the emitted light collimation system includes a multi-channel fiber array, a collimation lens, and a collimation system reference plate, and the multi-channel fiber array and the collimation lens are fixed on the collimation system reference plate;
the multi-channel optical fiber array is used for emitting the emergent light received by each channel to the collimating lens, and the collimating lens is used for collimating the emergent light and then emitting the collimated emergent light to the scanning system.
Optionally, the received light collection system includes: the converging lens is used for converging incident light rays of all channels and then respectively transmitting the converged incident light rays to corresponding receiving channels of the multi-channel receiving optical fiber array.
Optionally, the optical transceiver further includes a reference optical transceiver system, where the reference optical transceiver system includes: a reference light emitting fiber array and a reference light scattering system;
the reference light ray emission optical fiber array is used for transmitting emitted light of reference light rays to the reference light scattering system, and the reference light scattering system is used for scattering the emitted light of the reference light rays and then transmitting the scattered light to the received light ray transmission system;
the emitted light of the reference light is obtained by leading out emergent light emitted by the laser by the emission light transmission system.
Optionally, the reference light emitting fiber array is disposed in a manner including:
the optical fiber array is independently arranged, or is coupled with the optical fiber array of the transmitting light transmission system into the same optical fiber array, or is coupled with the optical fiber array of the receiving light collection system into the same optical fiber array.
Optionally, the system further comprises a transceiver protection system arranged inside the transceiver of the laser radar, and the transceiver protection system comprises a transmitting protection device and a receiving protection device;
the emission protection device is arranged outside the emission light collimation system and is used for accommodating emergent light of the emission light transmission system;
the receiving protection device is arranged outside the received light collecting system and accommodates incident light of the reference light and incident light of the received light collecting system.
Optionally, the laser radar further comprises a transceiver housing arranged outside the transceiver of the laser radar.
Optionally, the systems and parts are fixed by glue.
The utility model has the beneficial effects that:
(1) the receiving and transmitting device of the laser radar realizes the core functions of receiving and transmitting laser radar beams, such as transmission and collimation of multipath emergent rays of the laser radar, collection, convergence, separation, coupling, transmission and the like of received rays.
(2) The receiving and transmitting device of the laser radar realizes the functions of transmission, scattering, receiving and the like of the internal reference light of the laser radar.
(3) The optical fiber array is used as the emitting device of the light rays at the emitting end and the reference light rays and the receiving device of the light rays at the receiving end, so that the design layout and the production, installation and adjustment processes of the laser radar are greatly facilitated, and the production cost is greatly reduced.
(4) The reference light receiving and transmitting system described by the utility model greatly improves the precision of the reference light calibration in the system and saves the setting cost and the production cost of the reference light.
(5) The protection device solves the problems of light scattering inside the laser radar and large stray light interference, and simultaneously ensures the cleanliness of the system.
(6) The laser radar transceiver described in the utility model specially adjusts the relative positions of the modules and fixes the modules through glue, thereby ensuring that the transceiver can normally work at different detection distances.
Drawings
Fig. 1 is an overall structural view of a laser radar transmitting/receiving apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a structure of a system for collimating emitted light according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a reference light transceiving system according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a received light collecting system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an emission protection device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Examples
Referring to fig. 1 to 5, an embodiment of the present invention provides a laser radar transceiver apparatus, including: the device comprises a transmitted light transmission system, a transmitted light collimation system, a reference light receiving and transmitting system, a received light collection system, a received light transmission system, a receiving and transmitting protection system and a receiving and transmitting device shell.
Referring to fig. 2, the emission light transmission system is used for transmitting the emission light emitted by the laser to the emission light collimation system through the optical fiber and the optical fiber array. Specifically, the emission light transmission system transmits light emitted from the laser to the emission light collimation system through the optical fiber. Specifically, the emission light transmission system comprises a main optical fiber, a plurality of optical fiber beam splitters and a plurality of sub optical fibers. The main optical fiber is used for transmitting the emission light to the optical fiber beam splitter; the optical fiber beam splitter is used for splitting the emitted light into a plurality of beams of light, and the plurality of beams of light are respectively transmitted to each channel of the optical fiber array of the emitted light collimation system through the plurality of paths of sub-optical fibers.
The emission light collimation system is used for collimating the emission light and then emitting the collimated emission light to the scanning system. Specifically, the emitted light collimation system comprises a multi-channel optical fiber array, a collimation lens and a collimation system reference plate; referring to fig. 2, the multi-channel fiber array and the collimating lens are fixed on the collimating system reference plate by glue, the emergent light is transmitted to the multi-channel fiber array through the fiber, and the emitted fiber is emitted from the multi-channel fiber array, collimated by the collimating lens, and then emitted to the scanning system. The collimation system reference plate is made of a material with high stability, such as ceramic, special glass (quartz and the like), metal and the like.
FIG. 3 is a schematic diagram of a reference light transceiver system including a reference light emitting fiber array and a reference light scattering system; the reference light emitting fiber array is used for transmitting emitted light of reference light to the reference light scattering system, and the reference light scattering system is used for scattering the emitted light of the reference light and then transmitting the scattered light to the received light transmitting system.
The transmitting light transmission system leads light emitted by the laser out of other single-path or multi-path light as transmitting light of reference light, the transmitting light of the reference light is transmitted into the system through the optical fiber array, and the reference light is received by the receiving multi-channel optical fiber array after being scattered in the system.
The position of the reference light scattering system can be adjusted to ensure that the emergent reference light can uniformly return to each receiving channel after being scattered; the surface of a material used by the reference light scattering system can be processed to ensure that light can be scattered uniformly, the reference light emitting optical fiber array can be independently arranged, or coupled with the optical fiber array of the emitting light transmission system to form the same optical fiber array, or coupled with the optical fiber array of the receiving light collection system to form the same optical fiber array, and the optical fiber array is transmitted to the detector through the receiving light transmission system to be used as a system calibration reference. The reference light receiving and transmitting system greatly improves the calibration precision of the reference light in the system, and saves the setting cost and the production cost of the reference light.
Referring to fig. 4, the received light collecting system includes a converging lens and a multi-channel receiving fiber array, where the converging lens is used to converge incident light of each channel and then respectively transmit the converged incident light to corresponding receiving channels of the multi-channel receiving fiber array. The number of channels of the multi-channel receiving fiber array needs to be increased or decreased according to the use requirement, and the number of receiving channels can be larger than or equal to the number of transmitting channels. The position of the receiving multi-channel receiving optical fiber array is adjusted to ensure that enough light intensity can be received at different detection distances. In order to ensure the stability of the connection of the receiving optical fiber array and the accuracy and adjustability of the relative position between the receiving optical fiber array and the scattered light reflection system, partial structures in the receiving optical fiber array and the receiving protection system are connected through glue, and then structural parts in the receiving protection system are connected with the receiving system through glue. The received light collection system in the embodiment also has a certain sealing effect, and the cleanliness of the emission collimation system can be ensured.
The receiving and transmitting protection system comprises a transmitting protection device and a receiving protection device which are arranged in the receiving and transmitting device of the laser radar. The emission protection device is arranged outside the emission light collimation system and used for accommodating emergent light rays of the emission light transmission system; the receiving protection device is arranged outside the received light collecting system and accommodates incident light of the reference light and incident light of the received light collecting system. The transmitting protection device and the receiving protection device are provided with openings at the incident port and the transmitting port of light.
Referring to fig. 5, the emission protection device is a light-blocking and dust-proof protection housing, and may be made of metal or plastic. In order to prevent the emission optical fiber from scattering in the system, the surface reflectivity of the optical fiber protection device can be reduced by using methods such as an anti-reflection coating and the like, and meanwhile, the emission protection device has a certain sealing effect and can ensure the cleanliness of the emission collimation system. The emission protection system is fixed on the collimation system reference plate through glue and a buckle. Furthermore, the device also comprises a transceiver shell arranged outside the device. The problem that light scattering inside the laser radar is large in stray light interference is solved by the protection receiving and sending system, and cleanliness of the system is guaranteed.
Optionally, the multi-channel fiber array according to the present embodiment needs a coated planar mirror to improve the end-face optical performance; the convergent lens and the collimating lens are required to be manufactured into a special-shaped edge cutting lens according to requirements, and the optical performance is improved through film coating.
According to the technical scheme of the embodiment of the utility model, the core functions of laser radar beam receiving and sending, such as transmission and collimation of multi-path emergent rays of the laser radar, collection, convergence, separation, coupling and transmission of received rays and the like, are realized; the functions of transmission, scattering, receiving and the like of the internal reference light of the laser radar are also realized; the optical fiber array is used as a transmitting device for transmitting end light rays and reference light rays and a receiving device for receiving end light rays, so that the laser radar design layout and the production assembly and debugging process are greatly facilitated, and the production cost is greatly reduced; in addition, the relative position of each module is adjusted and fixed by glue by the laser radar transceiver, so that the transceiver can work normally at different detection distances.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A laser radar transmitting/receiving apparatus, comprising:
the device comprises an emission light transmission system, an emission light collimation system, a receiving light collection system and a receiving light transmission system;
the emission light transmission system is used for transmitting emission light emitted by the laser to the emission light collimation system through the optical fiber and the optical fiber array;
the emission light collimation system is used for collimating the emission light and then emitting the collimated emission light to the scanning system;
the receiving light ray collecting system is used for receiving the echo light rays reflected by the scanning system through the optical fiber array and transmitting the echo light rays to the receiving light ray transmitting system so that the receiving light ray transmitting system can transmit the echo light rays to the detector.
2. The apparatus of claim 1, wherein the emitted light delivery system comprises: the optical fiber splitter is connected with the main optical fiber, and the multi-path sub optical fiber;
the main optical fiber is used for transmitting the emission light to the optical fiber beam splitter;
the optical fiber beam splitter is used for splitting the emitted light into a plurality of beams of light, and the plurality of beams of light are respectively transmitted to each channel of the optical fiber array of the emitted light collimation system through the plurality of paths of sub-optical fibers.
3. The apparatus of claim 1, wherein the emitted light collimation system comprises: the device comprises a multi-channel optical fiber array, a collimating lens and a collimating system reference plate, wherein the multi-channel optical fiber array and the collimating lens are fixed on the collimating system reference plate;
the multi-channel optical fiber array is used for emitting the emergent light received by each channel to the collimating lens, and the collimating lens is used for collimating the emergent light and then emitting the collimated emergent light to the scanning system.
4. The apparatus of claim 1, wherein the received light collection system comprises: the converging lens is used for converging incident light rays of all channels and then respectively transmitting the converged incident light rays to corresponding receiving channels of the multichannel receiving optical fiber array.
5. The apparatus of claim 1, further comprising a reference optical transceiver system, the reference optical transceiver system comprising: a reference light emitting fiber array and a reference light scattering system;
the reference light ray emission optical fiber array is used for transmitting emitted light of reference light rays to the reference light scattering system, and the reference light scattering system is used for scattering the emitted light of the reference light rays and then transmitting the scattered light to the received light ray transmission system;
and the emitted light of the reference light is obtained by leading out emergent light emitted by the laser by the emitted light transmission system.
6. The apparatus of claim 5, wherein the reference light emitting fiber array is disposed in a manner comprising:
the optical fiber array is independently arranged, or coupled with the optical fiber array of the transmitting light transmission system into the same optical fiber array, or coupled with the optical fiber array of the receiving light collection system into the same optical fiber array.
7. The device of claim 1, further comprising a transceiver protection system disposed inside the transceiver of the lidar, including a transmission protection device and a reception protection device;
the emission protection device is arranged outside the emission light collimation system and is used for accommodating emergent light of the emission light transmission system;
the receiving protection device is arranged outside the received light collecting system and accommodates incident light of the reference light and incident light of the received light collecting system.
8. The apparatus of claim 1, further comprising a transceiver housing disposed external to a transceiver of the lidar.
9. Device according to any of claims 1-7, characterized in that the systems and parts are fixed by means of glue;
the systems and components include: the device comprises a multi-channel optical fiber array, a collimating lens, a collimating system reference plate, a transmitting protection device, a receiving optical fiber array, a receiving protection device and a structural member in the receiving protection device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123404910.0U CN216956357U (en) | 2021-12-30 | 2021-12-30 | Laser radar's send-receiver device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202123404910.0U CN216956357U (en) | 2021-12-30 | 2021-12-30 | Laser radar's send-receiver device |
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| CN216956357U true CN216956357U (en) | 2022-07-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114415190A (en) * | 2021-12-30 | 2022-04-29 | 图达通智能科技(苏州)有限公司 | Laser radar's send-receiver device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114415190A (en) * | 2021-12-30 | 2022-04-29 | 图达通智能科技(苏州)有限公司 | Laser radar's send-receiver device |
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Inventor after: Zhao Shuai Inventor after: Li Yufeng Inventor after: Lu Lirui Inventor before: Zhao Shuai Inventor before: Li Yufeng Inventor before: Wang Ningyi Inventor before: Lu Lirui |